US7403835B2 - Device and method for programming an industrial robot - Google Patents
Device and method for programming an industrial robot Download PDFInfo
- Publication number
- US7403835B2 US7403835B2 US11/436,763 US43676306A US7403835B2 US 7403835 B2 US7403835 B2 US 7403835B2 US 43676306 A US43676306 A US 43676306A US 7403835 B2 US7403835 B2 US 7403835B2
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- Prior art keywords
- robot
- image
- programming
- image surface
- control commands
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 238000003754 machining Methods 0.000 claims description 3
- 238000012634 optical imaging Methods 0.000 claims 2
- 238000012545 processing Methods 0.000 abstract description 2
- 238000013459 approach Methods 0.000 description 8
- 230000008901 benefit Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000013178 mathematical model Methods 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 230000007175 bidirectional communication Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000006854 communication Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004886 head movement Effects 0.000 description 1
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- 239000000126 substance Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
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- 238000012800 visualization Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40121—Trajectory planning in virtual space
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40129—Virtual graphic 3-D pointer, manipulator commands real manipulator
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40323—Modeling robot environment for sensor based robot system
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40392—Programming, visual robot programming language
Definitions
- the present invention relates to a device and a method for programming an industrial robot.
- a three-dimensional movement path with respect to a three-dimensional object to be machined is generated and stored using this program.
- Robot programs may be created offline and online.
- simulation software is used as follows: the geometry and kinematics of the robot, the workplace of the robot and the object, e.g., a vehicle body, are stored in a computer as a mathematical model and/or as CAD data, and from this data a two-dimensional image on a display screen is obtained by using a graphics program. The existence of an actual object or even a robot is not necessary for this process.
- the CAD data and/or the mathematical model contains all the kinematic functionalities, including a prototype of an actual vehicle body and a robot in a robot system, for example.
- all movement paths of the robot may also be displayed on the display screen. The movement paths may be stored and then practiced on a real object using a real robot.
- simulation software requires a high level of education and ongoing training to achieve efficient use.
- One example of such simulation software is available commercially under the brand name “eM-Workplace” from the company Tecnomatix GmbH.
- eM-Workplace from the company Tecnomatix GmbH.
- real programming there is a real object, e.g., a vehicle body and a real robot.
- a control panel is provided for path control. Programming may be performed only when there is an actual design model of the components.
- the robot can be positioned at various points in space by using a handheld programming device. These points are assigned properties with respect to their approach (linear, circular, etc.) and a definition with regard to their orientation in space.
- the object of the present invention is to create a method and a device with which the programming process may be carried out quickly and easily.
- This object is achieved for the process using a method and a device for programming an industrial robot using a simulation program.
- the efficiency of operation of a handheld programming device is combined with the functionality of the robot simulation software.
- the high functionality of the robot simulation and its lack of dependence on real hardware are associated with efficient and easily learned operation of real robots.
- the core of the present invention is a link between real programming of robots and programming using robot simulations. This coupling takes over the traditional functionalities of a real handheld programming device and supplements them with additional functionalities of simulation.
- An advantageous refinement of the present invention consists of wirelessly connecting the handheld programming device to the robot control unit in which the robot simulation program is contained and activated.
- FIG. 1 illustrates an exemplary embodiment of a device for programming an industrial robot, in accordance with the present invention
- FIG. 2 illustrates an exemplary embodiment of a method for programming an industrial robot, in accordance with the present invention.
- FIG. 1 illustrates the essential components of the inventive device for virtual programming of an industrial robot. These components include a handheld programming unit 1 , a control unit 2 and a display screen 3 . With this handheld programming device 1 , the functions to be executed by the industrial robot (not shown and not actually present within the scope of the invention) are selected by input of commands via a keyboard (not shown), which is provided in the handheld programming device 1 . These functions are as follows, for example:
- the control unit 2 which contains a memory 4 for the data of an object to be handled by the robot, e.g., a vehicle body, a memory 5 for the data of the robot and the approach points, a memory 6 for the changes in the data of the robot and the time sequence of these changes, a program module 7 a for processing the commands for the simulation software issued by the handheld programming device 1 , a simulation software 7 b for converting the commands issued by the handheld programming device 1 into corresponding specifications for altering the data of the robot and the approach points to the memory 5 and a graphics program 8 .
- the wireless transmission may be a Bluetooth transmission.
- the graphics program 8 controls the image contents to be displayed on the image surface 3 .
- the function commands (movement of the robot, etc.) that can be selected with the handheld programming device 1 are transmitted to the simulation software 7 b.
- Communication with the simulation software 7 b is bidirectional, i.e., commands and data are transmitted in mutual exchange.
- Bidirectional communication ensures transmission of commands issued by the handheld programming device 1 to the simulation software 7 b and transmits a preset selection of robot data and object data. The individual selection is also made by the programming device 1 .
- FIG. 2 illustrates an exemplary embodiment of a method for programming an industrial robot, in accordance with the present invention.
- the handheld programming device outputs the control commands, as described above.
- the control commands are converted into robot data.
- the incoming commands are converted in the control unit 2 into corresponding specifications in the memory 5 , and thus a change in the data of the robot and the startup points is implemented.
- the new robot data and approach points are relayed to the graphics program 8 and displayed as revised image content on the display surface via a projection unit (not shown).
- the changes are stored in the memory 6 as described above.
- a three-dimensional image of the robot and the object to be processed may be displayed on the image surface.
- a projection wall may be used as the image surface.
- the respective object and the industrial robot are imaged on the projection wall.
- the display appears to be three-dimensional. To do so, first a projected stereoscopic image is generated using a suitable graphics module. On the other hand, a three-dimensional effect of the view for the user is simulated if the user wears so-called shutter eyeglass lenses, which darken and release one eyeglass lens at a time in rapid sequence. The shutter lens and the stereoscopic image are synchronized by the graphics module.
- Controlling means not only determining the path of movement of the robot but also the respective labor steps such as welding, painting, etc. by means of suitable devices, also shown in FIG. 1 .
- a tracking device may also be provided, which detects the head movement and alignment of the user's head and automatically adjusts the view accordingly. It is thus possible to approach, for example, a machining site of the robot that is difficult to observe and to control it with especially high precision there.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
Description
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- 1. Moving the robot in world coordinates or relative coordinates
- 2. Controlling the individual axes of the robot
- 3. Generating approach points
- 4. Generating paths
- 5. Modifying the paths and approach points
- 6. Approaching the approach points
- 7. Departing from the paths
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- 1. Rotating the view of the object and the robot in all degrees of freedom
- 2. Enlarging the view
- 3. Three-dimensional view
Claims (10)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10354642.1 | 2003-11-22 | ||
DE10354642A DE10354642A1 (en) | 2003-11-22 | 2003-11-22 | Apparatus and method for programming an industrial robot |
PCT/EP2004/012829 WO2005050335A1 (en) | 2003-11-22 | 2004-11-12 | Device and method for programming an industrial robot |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2004/012829 Continuation WO2005050335A1 (en) | 2003-11-22 | 2004-11-12 | Device and method for programming an industrial robot |
Publications (2)
Publication Number | Publication Date |
---|---|
US20060287772A1 US20060287772A1 (en) | 2006-12-21 |
US7403835B2 true US7403835B2 (en) | 2008-07-22 |
Family
ID=34585251
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US11/436,763 Active US7403835B2 (en) | 2003-11-22 | 2006-05-19 | Device and method for programming an industrial robot |
Country Status (5)
Country | Link |
---|---|
US (1) | US7403835B2 (en) |
EP (1) | EP1700175B1 (en) |
JP (1) | JP2007511839A (en) |
DE (1) | DE10354642A1 (en) |
WO (1) | WO2005050335A1 (en) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20070010913A1 (en) * | 2005-07-05 | 2007-01-11 | Atsushi Miyamoto | Motion editing apparatus and motion editing method for robot, computer program and robot apparatus |
US20100280663A1 (en) * | 2009-04-30 | 2010-11-04 | Abdallah Muhammad E | Method and apparatus for automatic control of a humanoid robot |
US20150130794A1 (en) * | 2013-11-11 | 2015-05-14 | Kabushiki Kaisha Yaskawa Denki | Robot simulator, robot simulation method, robot simulation program |
US11123863B2 (en) * | 2018-01-23 | 2021-09-21 | Seiko Epson Corporation | Teaching device, robot control device, and robot system |
US11520571B2 (en) | 2019-11-12 | 2022-12-06 | Bright Machines, Inc. | Software defined manufacturing/assembly system |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20080301239A1 (en) * | 2007-05-31 | 2008-12-04 | Microsoft Corporation | Remote administration of devices and resources using an instant messenger service |
US8588958B2 (en) * | 2007-09-04 | 2013-11-19 | Musashi Engineering, Inc. | Moving program making-out program and device |
KR100968944B1 (en) * | 2009-12-14 | 2010-07-14 | (주) 아이알로봇 | Apparatus and method for synchronizing robot |
KR20130067376A (en) * | 2011-12-14 | 2013-06-24 | 한국전자통신연구원 | Apparatus and method for virtual execution of application in robot control software |
JP6311421B2 (en) * | 2014-04-10 | 2018-04-18 | 株式会社安川電機 | Teaching system, robot system, and teaching method |
CN110462533A (en) * | 2017-03-31 | 2019-11-15 | 索尼公司 | Information processing unit and information processing method, computer program and program manufacturing method |
Citations (11)
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US4987527A (en) | 1987-10-26 | 1991-01-22 | Hitachi, Ltd. | Perspective display device for displaying and manipulating 2-D or 3-D cursor, 3-D object and associated mark position |
WO1994006249A1 (en) | 1992-09-09 | 1994-03-17 | Eichenlaub Jesse B | Stroboscopic illumination system for video displays |
WO1995001757A1 (en) | 1993-07-07 | 1995-01-19 | Cornelius Borst | Robotic system for close inspection and remote treatment of moving parts |
US6134102A (en) * | 1995-07-22 | 2000-10-17 | Kuka Roboter Gmbh | Programming device |
JP2001150373A (en) | 2000-10-02 | 2001-06-05 | Fanuc Ltd | Robot simulation device and robot control device |
US6356806B1 (en) * | 1998-12-12 | 2002-03-12 | Kuka Roboter Gmbh | Method for handling a voltage drop in the control of a robot and for restarting a robot following a voltage drop |
US20020153184A1 (en) | 2001-04-18 | 2002-10-24 | Jeong-Gon Song | Robot cleaner, robot cleaning system and method for controlling same |
WO2003019423A1 (en) | 2001-08-28 | 2003-03-06 | Volume Interactions Pte Ltd | Methods and systems for interaction with three-dimensional computer models |
EP1304194A2 (en) | 2001-10-16 | 2003-04-23 | Fanuc Ltd | Robot simulation apparatus |
EP1310843A2 (en) | 2001-11-09 | 2003-05-14 | Fanuc Ltd | Simulation device |
US20060217877A1 (en) * | 2003-10-23 | 2006-09-28 | Ibm Corporation | Navigating a uav with on-board navigation algorithms with flight depiction |
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JPH0760342B2 (en) * | 1987-10-26 | 1995-06-28 | 株式会社日立製作所 | Robot support system |
JPH07295737A (en) * | 1994-04-27 | 1995-11-10 | Sony Corp | Optical visual device |
JPH08287291A (en) * | 1995-04-13 | 1996-11-01 | Fanuc Ltd | Image display system |
JP2837393B2 (en) * | 1996-07-08 | 1998-12-16 | 川崎重工業株式会社 | Object processing method and apparatus |
JP2001216015A (en) * | 2000-01-31 | 2001-08-10 | Iwate Prefecture | Operation teaching device for robot |
-
2003
- 2003-11-22 DE DE10354642A patent/DE10354642A1/en not_active Withdrawn
-
2004
- 2004-11-12 JP JP2006540263A patent/JP2007511839A/en active Pending
- 2004-11-12 WO PCT/EP2004/012829 patent/WO2005050335A1/en active Application Filing
- 2004-11-12 EP EP04797845A patent/EP1700175B1/en active Active
-
2006
- 2006-05-19 US US11/436,763 patent/US7403835B2/en active Active
Patent Citations (12)
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US4987527A (en) | 1987-10-26 | 1991-01-22 | Hitachi, Ltd. | Perspective display device for displaying and manipulating 2-D or 3-D cursor, 3-D object and associated mark position |
WO1994006249A1 (en) | 1992-09-09 | 1994-03-17 | Eichenlaub Jesse B | Stroboscopic illumination system for video displays |
WO1995001757A1 (en) | 1993-07-07 | 1995-01-19 | Cornelius Borst | Robotic system for close inspection and remote treatment of moving parts |
US6134102A (en) * | 1995-07-22 | 2000-10-17 | Kuka Roboter Gmbh | Programming device |
US6356806B1 (en) * | 1998-12-12 | 2002-03-12 | Kuka Roboter Gmbh | Method for handling a voltage drop in the control of a robot and for restarting a robot following a voltage drop |
JP2001150373A (en) | 2000-10-02 | 2001-06-05 | Fanuc Ltd | Robot simulation device and robot control device |
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Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20070010913A1 (en) * | 2005-07-05 | 2007-01-11 | Atsushi Miyamoto | Motion editing apparatus and motion editing method for robot, computer program and robot apparatus |
US7930067B2 (en) * | 2005-07-05 | 2011-04-19 | Sony Corporation | Motion editing apparatus and motion editing method for robot, computer program and robot apparatus |
US20100280663A1 (en) * | 2009-04-30 | 2010-11-04 | Abdallah Muhammad E | Method and apparatus for automatic control of a humanoid robot |
US8364314B2 (en) * | 2009-04-30 | 2013-01-29 | GM Global Technology Operations LLC | Method and apparatus for automatic control of a humanoid robot |
US20150130794A1 (en) * | 2013-11-11 | 2015-05-14 | Kabushiki Kaisha Yaskawa Denki | Robot simulator, robot simulation method, robot simulation program |
US11123863B2 (en) * | 2018-01-23 | 2021-09-21 | Seiko Epson Corporation | Teaching device, robot control device, and robot system |
US11520571B2 (en) | 2019-11-12 | 2022-12-06 | Bright Machines, Inc. | Software defined manufacturing/assembly system |
Also Published As
Publication number | Publication date |
---|---|
WO2005050335A1 (en) | 2005-06-02 |
DE10354642A1 (en) | 2005-06-16 |
US20060287772A1 (en) | 2006-12-21 |
EP1700175B1 (en) | 2011-05-25 |
EP1700175A1 (en) | 2006-09-13 |
JP2007511839A (en) | 2007-05-10 |
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